CN114105029A - Transformer transfer robot - Google Patents

Transformer transfer robot Download PDF

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Publication number
CN114105029A
CN114105029A CN202111389432.2A CN202111389432A CN114105029A CN 114105029 A CN114105029 A CN 114105029A CN 202111389432 A CN202111389432 A CN 202111389432A CN 114105029 A CN114105029 A CN 114105029A
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CN
China
Prior art keywords
transformer
plate
base
bottom plate
motor
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Granted
Application number
CN202111389432.2A
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Chinese (zh)
Other versions
CN114105029B (en
Inventor
梁达强
邓雪微
王淞民
黄芷青
黄景云
郭美君
杨成友
冯志坚
夏嘉颖
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Guangdong Power Grid Co Ltd
Jiangmen Power Supply Bureau of Guangdong Power Grid Co Ltd
Original Assignee
Guangdong Power Grid Co Ltd
Jiangmen Power Supply Bureau of Guangdong Power Grid Co Ltd
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Guangdong Power Grid Co Ltd, Jiangmen Power Supply Bureau of Guangdong Power Grid Co Ltd filed Critical Guangdong Power Grid Co Ltd
Priority to CN202111389432.2A priority Critical patent/CN114105029B/en
Publication of CN114105029A publication Critical patent/CN114105029A/en
Application granted granted Critical
Publication of CN114105029B publication Critical patent/CN114105029B/en
Active legal-status Critical Current
Anticipated expiration legal-status Critical

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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B66—HOISTING; LIFTING; HAULING
    • B66F—HOISTING, LIFTING, HAULING OR PUSHING, NOT OTHERWISE PROVIDED FOR, e.g. DEVICES WHICH APPLY A LIFTING OR PUSHING FORCE DIRECTLY TO THE SURFACE OF A LOAD
    • B66F7/00—Lifting frames, e.g. for lifting vehicles; Platform lifts
    • B66F7/02—Lifting frames, e.g. for lifting vehicles; Platform lifts with platforms suspended from ropes, cables, or chains or screws and movable along pillars
    • B66F7/025—Lifting frames, e.g. for lifting vehicles; Platform lifts with platforms suspended from ropes, cables, or chains or screws and movable along pillars screw operated
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B66—HOISTING; LIFTING; HAULING
    • B66D—CAPSTANS; WINCHES; TACKLES, e.g. PULLEY BLOCKS; HOISTS
    • B66D3/00—Portable or mobile lifting or hauling appliances
    • B66D3/006—Power actuated devices operating on ropes, cables, or chains for hauling in a mainly horizontal direction
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B66—HOISTING; LIFTING; HAULING
    • B66D—CAPSTANS; WINCHES; TACKLES, e.g. PULLEY BLOCKS; HOISTS
    • B66D3/00—Portable or mobile lifting or hauling appliances
    • B66D3/18—Power-operated hoists
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B66—HOISTING; LIFTING; HAULING
    • B66D—CAPSTANS; WINCHES; TACKLES, e.g. PULLEY BLOCKS; HOISTS
    • B66D3/00—Portable or mobile lifting or hauling appliances
    • B66D3/18—Power-operated hoists
    • B66D3/26—Other details, e.g. housings
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B66—HOISTING; LIFTING; HAULING
    • B66F—HOISTING, LIFTING, HAULING OR PUSHING, NOT OTHERWISE PROVIDED FOR, e.g. DEVICES WHICH APPLY A LIFTING OR PUSHING FORCE DIRECTLY TO THE SURFACE OF A LOAD
    • B66F7/00—Lifting frames, e.g. for lifting vehicles; Platform lifts
    • B66F7/28—Constructional details, e.g. end stops, pivoting supporting members, sliding runners adjustable to load dimensions

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  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Geology (AREA)
  • Structural Engineering (AREA)
  • Manipulator (AREA)
  • Forklifts And Lifting Vehicles (AREA)

Abstract

The application discloses transformer transfer robot includes: the wire drawing mechanism comprises a bottom plate, a base, a wire drawing mechanism and a lifting mechanism; the front end of the bottom plate is provided with an inclined step, and the rear end of the bottom plate is provided with a side plate; the wire drawing mechanism comprises a wire roller and a wire roller motor which are both arranged on the side plate; the wire roller is wound with a rope; the base is arranged on the bottom plate in a sliding manner along the front and back directions of the bottom plate; the lifting mechanism comprises: a lifter and a pallet; the lifter is arranged on the base; the supporting plate is arranged on the lifter and used for supporting the transformer; the lifter is used for controlling the lifting of the supporting plate. Through setting up the guy wire mechanism, can be connected the back at rope and transformer, with the cooperation of oblique step on pulling transformer to the bottom plate, through the cooperation of slidable base, can follow the position of fore-and-aft direction regulation transformer, can adjust the height of transformer through elevating system, realize the transport to the transformer, effectively solve current transformer transport mode and can't compromise and occupy less space and improve the problem of transportation stationarity.

Description

Transformer transfer robot
Technical Field
The application relates to the technical field of carrying tools, in particular to a transformer carrying robot.
Background
The existing transformer carrying mode is that a hoisting or forklift is adopted to carry the transformer to a destination; the transformer is easy to bump due to shaking caused by operation in the conveying process by using a hoisting mode; the mode of using fork truck transport has great operating space requirement.
Disclosure of Invention
In view of this, the present application provides a transformer transfer robot for solve the problem that the existing transformer transfer mode can not take into account that less space is occupied and transportation stability is improved.
In order to achieve the above technical object, the present application provides a transformer transfer robot, including: the wire drawing mechanism comprises a bottom plate, a base, a wire drawing mechanism and a lifting mechanism;
the front end of the bottom plate is provided with an inclined step for the transformer to slide on the bottom plate, and the rear end of the bottom plate is provided with a side plate;
the wire drawing mechanism comprises a wire roller and a wire roller motor which are both arranged on the side plate;
the wire roller motor is used for driving the wire roller to rotate;
a rope for connecting the transformer is wound on the wire roller;
the base is arranged on the bottom plate in a sliding manner along the front-back direction of the bottom plate;
the lifting mechanism comprises: a lifter and a pallet;
the lifter is arranged on the base;
the supporting plate is arranged on the lifter and used for supporting the transformer;
the lifter is used for controlling the supporting plate to lift.
Further, the bottom plate is a v-shaped 21274with an opening towards the front end, and the middle part of the bottom plate forms a sliding cavity;
the base is slidably arranged in the sliding cavity;
a base motor is arranged on the side plate;
the output end of the base motor is connected with the base and used for driving the base to slide.
Further, the lifter includes: the outer guide post, the outer screw rod and the outer screw rod motor;
the outer guide post is vertically arranged on the base, and a supporting plate sliding cavity is arranged on the outer guide post;
the outer screw rod is arranged in the supporting plate sliding cavity;
the outer screw rod motor is arranged on the base and used for driving the outer screw rod to rotate;
the supporting plate can extend into the supporting plate sliding cavity in a sliding mode and is connected with the outer screw rod in a meshed mode.
Further, the pallet includes: the inner guide post, the inner screw motor, the upper pressure plate and the lower pressure plate;
the inner guide column can extend into the supporting plate sliding cavity in a sliding mode and is meshed and connected with the outer screw rod;
a pressing plate sliding cavity is arranged on the inner guide post;
the inner screw is vertically arranged in the pressing plate sliding cavity;
the inner screw motor is arranged on the inner guide column and used for driving the inner screw to rotate;
the lower pressing plate is arranged at the lower end of the inner screw rod;
the upper pressure plate can extend into the pressure plate sliding cavity in a sliding mode and is connected with the inner screw in a meshed mode.
Furthermore, the end parts of the upper pressing plate and the lower pressing plate are provided with a reversible limiting plate and a turnover motor for controlling the limiting plate to turn over.
Further, the lifting mechanism comprises two lifting mechanisms;
the two lifting mechanisms are respectively arranged on two sides of the base.
Further, a transverse sliding cavity is arranged on the base;
the two lifting mechanisms are slidably arranged in the transverse sliding cavity;
a transverse driving motor is arranged in the transverse sliding cavity;
the output end of the transverse driving motor is connected with the two lifting mechanisms and used for driving the two lifting mechanisms to slide.
Further, the top surface of bottom plate is provided with the gyro wheel.
Further, the rope is a steel rope.
Furthermore, the bottom surface of the bottom plate is provided with universal wheels.
It can be seen from above technical scheme that this application provides a transformer transfer robot, includes: the wire drawing mechanism comprises a bottom plate, a base, a wire drawing mechanism and a lifting mechanism; the front end of the bottom plate is provided with an inclined step for the transformer to slide on the bottom plate, and the rear end of the bottom plate is provided with a side plate; the wire drawing mechanism comprises a wire roller and a wire roller motor which are both arranged on the side plate; the wire roller motor is used for driving the wire roller to rotate; a rope for connecting the transformer is wound on the wire roller; the base is arranged on the bottom plate in a sliding manner along the front-back direction of the bottom plate; the lifting mechanism comprises: a lifter and a pallet; the lifter is arranged on the base; the supporting plate is arranged on the lifter and used for supporting the transformer; the lifter is used for controlling the supporting plate to lift. Through setting up the guy wire mechanism, can be connected the back at rope and transformer, with the cooperation of oblique step on pulling transformer to the bottom plate, and then through the cooperation of slidable base, can follow the position of fore-and-aft direction regulation transformer, can adjust the height of transformer through elevating system, realize the transport to the transformer, effectively solve current transformer transport mode and can't compromise and occupy less space and improve the problem of transportation stationarity.
Drawings
In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, the drawings needed to be used in the description of the embodiments or the prior art will be briefly introduced below, and it is obvious that the drawings in the following description are only some embodiments of the present application, and it is obvious for those skilled in the art that other drawings can be obtained according to the drawings without inventive exercise.
Fig. 1 is a schematic overall structural diagram of a transformer handling robot according to an embodiment of the present disclosure;
fig. 2 is a schematic view of a bottom plate and a wire pulling mechanism of a transformer handling robot according to an embodiment of the present disclosure;
fig. 3 is an enlarged view of a wire pulling mechanism of the transformer handling robot according to the embodiment of the present disclosure;
fig. 4 is a schematic view of an elevator of a transformer handling robot according to an embodiment of the present disclosure;
fig. 5 is a schematic view of an inner guide post and an inner screw of a transfer robot according to an embodiment of the present disclosure;
fig. 6 is a schematic view of an upper platen of a transformer handling robot according to an embodiment of the present disclosure;
fig. 7 is a schematic diagram of a pallet of a transformer transfer robot according to an embodiment of the present application.
Detailed Description
The technical solutions of the embodiments of the present application will be described clearly and completely with reference to the accompanying drawings, and it is to be understood that the described embodiments are some, but not all embodiments of the present application. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the scope of protection claimed herein.
In the description of the embodiments of the present application, it should be noted that the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer", and the like indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings, and are only for convenience in describing the embodiments of the present application and simplifying the description, but do not indicate or imply that the referred devices or elements must have specific orientations, be configured in specific orientations, and operate, and thus, should not be construed as limiting the embodiments of the present application. Furthermore, the terms "first," "second," and "third" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance.
In the description of the embodiments of the present application, it should be noted that the terms "mounted," "connected," and "connected" are used broadly and are defined as, for example, a fixed connection, an exchangeable connection, an integrated connection, a mechanical connection, an electrical connection, a direct connection, an indirect connection through an intermediate medium, and a communication between two elements, unless otherwise explicitly stated or limited. Specific meanings of the above terms in the embodiments of the present application can be understood in specific cases by those of ordinary skill in the art.
Referring to fig. 1, a transformer transfer robot provided in an embodiment of the present application includes: the device comprises a bottom plate 1, a base 5, a wire pulling mechanism and a lifting mechanism; the front end of the bottom plate 1 is provided with an inclined step for the transformer to slide on the bottom plate 1, and the rear end is provided with a side plate 10; the wire drawing mechanism comprises a wire roller 13 and a wire roller motor 14 which are both arranged on the side plate; the wire roller motor 14 is used for driving the wire roller 13 to rotate; a rope 15 for connecting the transformer is wound on the wire roller 13; the base 5 is arranged on the bottom plate 1 in a sliding way along the front and back directions of the bottom plate 1; the lifting mechanism comprises: a lifter and a pallet; the lifter is arranged on the base 5; the supporting plate is arranged on the lifter and used for supporting the transformer; the lifter is used for controlling the lifting of the supporting plate.
Referring to fig. 2 and 3, two mounting plates 11 may be disposed on the side plate 10 at intervals, and the wire roller 13 may be rotatably mounted between the two mounting plates 11; further, a stopper 12 may be provided at the front end of the mounting plate 11, the stopper 12 may be provided with a through hole through which the rope 15 passes, and the thread rolling motor 14 may be provided on the mounting plate. It should be noted that the ropes 15 may be steel ropes.
Specifically, the transformer can be fixedly connected through the rope 15, and the transformer is pulled to slide on the bottom plate 1 along the inclined steps. Correspondingly, the bottom plate 1 can be provided with rollers 2 for facilitating the sliding of the transformer. The lifter can have multiple setting mode, specifically can so that control layer board goes up and down can.
Further, the bottom plate 1 is a v-shaped 21274with an opening towards the front end, and a middle part of the shaped plate forms a sliding cavity; the base 5 can be arranged in the sliding cavity in a sliding way; a base motor 4 is arranged on the side plate 10; the output end of the base motor 4 is connected with the base 5 and used for driving the base 5 to slide.
In particular, the base motor 4 may be a hydraulic cylinder. The two ends of the base 5 can be provided with base guide blocks 6, and the cavity walls at the two sides of the sliding cavity can be provided with base guide grooves 3; the base guide block 6 extends into the base guide groove 3 for providing a guide function for the sliding of the base 5.
Further, referring to fig. 4, in the present embodiment, the lifter includes: an outer guide column 16, an outer screw 19 and an outer screw motor 18; the outer guide post 16 is vertically arranged on the base 5, and a supporting plate sliding cavity is arranged on the outer guide post 16; the outer screw rod 19 is arranged in the supporting plate sliding cavity; the outer screw motor 18 is arranged on the base 5 and is used for driving the outer screw 19 to rotate; the supporting plate can be extended into the sliding cavity of the supporting plate in a sliding way and is meshed and connected with the outer screw rod 19.
Specifically, in the present embodiment, the elevation of the pallet on the outer guide post 16 is controlled by the engagement of the rotating outer screw 19 with the outer guide post 16.
Further, referring to fig. 5 to 7, in the present embodiment, the supporting plate includes: the inner guide post 20, the inner screw 23, the inner screw motor 22, the upper pressure plate and the lower pressure plate; the inner guide post 20 is slidably inserted into the sliding cavity of the support plate and engaged with the outer screw 16, wherein a screw guide block 21 is disposed at an end of the inner guide post 20, and the sliding direction is ensured by the sliding connection of the screw guide block 21 with the sliding cavity of the support plate. The inner guide post 20 is provided with a pressing plate sliding cavity; the inner screw 23 is vertically arranged in the pressing plate sliding cavity; the inner screw motor 22 is arranged on the inner guide post 20 and used for driving the inner screw 23 to rotate; the lower pressing plate is arranged at the lower end of the inner screw rod; the upper pressure plate can extend into the pressure plate sliding cavity in a sliding mode and is connected with the inner screw 23 in a meshing mode.
Particularly, the supporting plate consisting of the inner guide post 20, the inner screw 23, the inner screw motor 22, the upper pressing plate and the lower pressing plate is arranged, so that the height of the supporting plate can be adjusted through the lifter, and meanwhile, the position of the transformer can be finely adjusted. Meanwhile, the lower pressing plate can be meshed with the inner screw 23 and is provided with threads opposite to those of the upper pressing plate, so that when the inner screw 23 rotates, the upper pressing plate and the lower pressing plate move in opposite directions, and the transformer can be clamped or loosened conveniently.
Further, in the present embodiment, the upper pressing plate and the lower pressing plate have the same structure, and both of them are composed of the frame plate 24 and the limiting plate 27. Wherein, a reversible limit plate 27 can be arranged at the end of the frame plate 24, and a reverse motor 26 for controlling the limit plate 27 to reverse is arranged outside the frame plate 24.
Meanwhile, the end parts of the upper pressure plate and the lower pressure plate can be provided with pressure plate guide blocks 25, the pressure plate guide blocks 25 extend into the pressure plate sliding cavity, and the end parts of the pressure plate guide blocks 25 are provided with protruding lugs which are matched with sliding grooves in the pressure plate sliding cavity to ensure that the sliding direction is vertical.
By turning over the motor 26, the limiting plates 27 on the upper pressing plate and the lower pressing plate can be controlled to rotate to limit and fix the transformer.
Further, the lifting mechanism comprises two lifting mechanisms; two elevating system set up respectively in 5 both sides of base to can be more steady lift fixed transformer.
Further, a transverse sliding cavity 7 is arranged on the base 5; the two lifting mechanisms can be arranged in the transverse sliding cavity 7 in a sliding manner; a transverse driving motor 8 is arranged in the transverse sliding cavity 7; the output end of the transverse driving motor 8 is connected with the two lifting mechanisms and used for driving the two lifting mechanisms to slide.
Specifically, the transverse driving motor 8 may be a hydraulic cylinder, and may be configured to drive the two lifting mechanisms to move closer to or away from each other, so that the distance between the two pallets may be adjusted according to the size of the transformer. Wherein, the opening of the transverse sliding cavity 7 is arranged upwards, and the bottom parts of the two lifting mechanisms can be provided with a longitudinal guide block 17 used for sliding in the transverse sliding cavity 7, so as to ensure the sliding direction of the lifting mechanisms.
It should be noted that the base 5 may be provided with a mounting plate 9 on the side of the lateral slide chamber 7 for facilitating the installation of the lateral driving motor 8.
Correspondingly, in order to facilitate the transformer carrying robot to integrally move and carry the transformer, universal wheels can be arranged at the bottom of the bottom plate 1.
Through the transformer transfer robot that this embodiment provided, can control base 5 through base motor 4 and slide, according to the position control base 5 of transformer and the distance of transformer to through after rope 15 removes the transformer to bottom plate 1, can fix the transformer through top board and holding down plate clamp, accomplish the purpose of carrying the transformer.
Although the present invention has been described in detail with reference to examples, it will be apparent to those skilled in the art that various changes may be made and equivalents may be substituted for elements thereof without departing from the scope of the invention.

Claims (10)

1. A transformer transfer robot, comprising: the wire drawing mechanism comprises a bottom plate, a base, a wire drawing mechanism and a lifting mechanism;
the front end of the bottom plate is provided with an inclined step for the transformer to slide on the bottom plate, and the rear end of the bottom plate is provided with a side plate;
the wire drawing mechanism comprises a wire roller and a wire roller motor which are both arranged on the side plate;
the wire roller motor is used for driving the wire roller to rotate;
a rope for connecting the transformer is wound on the wire roller;
the base is arranged on the bottom plate in a sliding manner along the front-back direction of the bottom plate;
the lifting mechanism comprises: a lifter and a pallet;
the lifter is arranged on the base;
the supporting plate is arranged on the lifter and used for supporting the transformer;
the lifter is used for controlling the supporting plate to lift.
2. The transformer handling robot of claim 1, wherein the floor plate is a v-21274with an opening towards the front end;
the base is slidably arranged in the sliding cavity;
a base motor is arranged on the side plate;
the output end of the base motor is connected with the base and used for driving the base to slide.
3. The transformer handling robot of claim 1, wherein the lifter comprises: the outer guide post, the outer screw rod and the outer screw rod motor;
the outer guide post is vertically arranged on the base, and a supporting plate sliding cavity is arranged on the outer guide post;
the outer screw rod is arranged in the supporting plate sliding cavity;
the outer screw rod motor is arranged on the base and used for driving the outer screw rod to rotate;
the supporting plate can extend into the supporting plate sliding cavity in a sliding mode and is connected with the outer screw rod in a meshed mode.
4. The transformer transfer robot of claim 3, wherein the pallet comprises: the inner guide post, the inner screw motor, the upper pressure plate and the lower pressure plate;
the inner guide column can extend into the supporting plate sliding cavity in a sliding mode and is meshed and connected with the outer screw rod;
a pressing plate sliding cavity is arranged on the inner guide post;
the inner screw is vertically arranged in the pressing plate sliding cavity;
the inner screw motor is arranged on the inner guide column and used for driving the inner screw to rotate;
the lower pressing plate is arranged at the lower end of the inner screw rod;
the upper pressure plate can extend into the pressure plate sliding cavity in a sliding mode and is connected with the inner screw in a meshed mode.
5. The transformer transfer robot as claimed in claim 4, wherein the upper and lower press plates are provided at ends thereof with a reversible limiting plate and a turnover motor for controlling the turnover of the limiting plate.
6. The transformer handling robot of claim 1, wherein the lifting mechanism comprises two;
the two lifting mechanisms are respectively arranged on two sides of the base.
7. The transformer handling robot of claim 6, wherein the base is provided with a lateral slide cavity;
the two lifting mechanisms are slidably arranged in the transverse sliding cavity;
a transverse driving motor is arranged in the transverse sliding cavity;
the output end of the transverse driving motor is connected with the two lifting mechanisms and used for driving the two lifting mechanisms to slide.
8. The transformer handling robot of claim 1, wherein the top surface of the base plate is provided with rollers.
9. The transformer handling robot of claim 1, wherein the rope is a wire rope.
10. The transformer handling robot of claim 1, wherein the bottom plate is provided with universal wheels on a bottom surface thereof.
CN202111389432.2A 2021-11-19 2021-11-19 Transformer transfer robot Active CN114105029B (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
CN202111389432.2A CN114105029B (en) 2021-11-19 2021-11-19 Transformer transfer robot

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
CN202111389432.2A CN114105029B (en) 2021-11-19 2021-11-19 Transformer transfer robot

Publications (2)

Publication Number Publication Date
CN114105029A true CN114105029A (en) 2022-03-01
CN114105029B CN114105029B (en) 2023-07-07

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Family Applications (1)

Application Number Title Priority Date Filing Date
CN202111389432.2A Active CN114105029B (en) 2021-11-19 2021-11-19 Transformer transfer robot

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Citations (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US20040247423A1 (en) * 2003-05-19 2004-12-09 James Thiel Multi-lift for lifting and storing motorcycles and other vehicles
CN104538338A (en) * 2014-06-16 2015-04-22 罗普伺达机器人有限公司 Transfer robot having variable hand of four robot arms
CN106564833A (en) * 2016-05-12 2017-04-19 遂宁市长丰机械科技有限公司 Automatic and synchronous telescopic-boom carrier
CN112093397A (en) * 2020-08-26 2020-12-18 广东电网有限责任公司江门供电局 Transformer transport means

Patent Citations (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US20040247423A1 (en) * 2003-05-19 2004-12-09 James Thiel Multi-lift for lifting and storing motorcycles and other vehicles
CN104538338A (en) * 2014-06-16 2015-04-22 罗普伺达机器人有限公司 Transfer robot having variable hand of four robot arms
CN106564833A (en) * 2016-05-12 2017-04-19 遂宁市长丰机械科技有限公司 Automatic and synchronous telescopic-boom carrier
CN112093397A (en) * 2020-08-26 2020-12-18 广东电网有限责任公司江门供电局 Transformer transport means

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